#include <vpRobotPioneer.h>

Inheritance diagram for vpRobotPioneer:

Public Types
enum	vpRobotStateType { STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL , STATE_FORCE_TORQUE_CONTROL }
enum	vpControlFrameType { REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME , CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME }

Public Member Functions
	vpRobotPioneer ()
virtual	~vpRobotPioneer () VP_OVERRIDE
void	get_eJe (vpMatrix &eJe) VP_OVERRIDE
void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &velocity)
vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)
void	init ()
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
void	useSonar (bool usage)
Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
int	getNDof () const
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
void	setMaxRotationVelocity (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)
void	setVerbose (bool verbose)

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)
vpControlFrameType	getRobotFrame (void) const

Protected Attributes
bool	isInitialized
double	maxTranslationVelocity
double	maxRotationVelocity
int	nDof
vpMatrix	eJe
int	eJeAvailable
vpMatrix	fJe
int	fJeAvailable
int	areJointLimitsAvailable
double *	qmin
double *	qmax
bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2
static const double	maxRotationVelocityDefault = 0.7

Inherited functionalities from vpUnicycle
vpHomogeneousMatrix	cMe_
vpMatrix	eJe_
void	set_cMe (const vpHomogeneousMatrix &cMe)
void	set_eJe (const vpMatrix &eJe)
vpHomogeneousMatrix	get_cMe () const
vpVelocityTwistMatrix	get_cVe () const
void	get_cVe (vpVelocityTwistMatrix &cVe) const
vpMatrix	get_eJe () const

Detailed Description

Interface for Pioneer mobile robots based on Aria 3rd party library.

This class provides a position and speed control interface for Pioneer mobile robots. It inherits from the Aria ArRobot class. For more information about the model of the robot, see vpPioneer documentation.

Examples: movePioneer.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, sonarPioneerReader.cpp, and tutorial-pioneer-robot.cpp.

Definition at line 63 of file vpRobotPioneer.h.

Member Enumeration Documentation

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 73 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 61 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpRobotPioneer()

BEGIN_VISP_NAMESPACE vpRobotPioneer::vpRobotPioneer ( )

Default constructor that initializes Aria.

Definition at line 51 of file vpRobotPioneer.cpp.

References isInitialized, and vpPioneer::vpPioneer().

◆ ~vpRobotPioneer()

vpRobotPioneer::~vpRobotPioneer ( )

virtual

Destructor.

Definition at line 61 of file vpRobotPioneer.cpp.

Member Function Documentation

◆ get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const

inlineinherited

Return the transformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Definition at line 65 of file vpUnicycle.h.

References cMe_.

◆ get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const

inlineinherited

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 72 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom(), and cMe_.

◆ get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix & cVe ) const

inlineinherited

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

See also: get_cVe()

Definition at line 86 of file vpUnicycle.h.

References get_cVe().

Referenced by get_cVe().

◆ get_eJe() [1/2]

void vpRobotPioneer::get_eJe ( vpMatrix & eJe )

inlinevirtual

Get the robot Jacobian expressed at point E, the point located at the middle between the two wheels.

Parameters

eJe	: Robot jacobian such as $(v_x, w_z) = {^e}{\bf J}e \; {\bf v}$ with respectively the translational and rotational control velocities of the mobile robot, $\bf v$ the six dimension velocity skew, and where

See also: get_eJe()

Implements vpRobot.

Definition at line 86 of file vpRobotPioneer.h.

References vpRobot::eJe, and vpUnicycle::get_eJe().

◆ get_eJe() [2/2]

vpMatrix vpUnicycle::get_eJe ( ) const

inlineinherited

Return the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Returns: The robot jacobian such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimension velocity skew.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 96 of file vpUnicycle.h.

References eJe_.

Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

References maxRotationVelocity.

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

References maxTranslationVelocity.

◆ getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Definition at line 142 of file vpRobot.h.

References nDof.

◆ getPosition()

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

References getPosition().

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 180 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 152 of file vpRobot.h.

◆ getVelocity() [1/2]

vpColVector vpRobotPioneer::getVelocity ( const vpRobot::vpControlFrameType frame )

Gets the current translational velocity of the robot.

Parameters

frame : Control frame. For the moment, only vpRobot::ARTICULAR_FRAME to get left and right wheel velocities and vpRobot::REFERENCE_FRAME to get translational and rotational velocities are implemented.

Returns

A two dimension vector that corresponds to the current velocities applied to the robot.

If the frame is vpRobot::ARTICULAR_FRAME, first value is the velocity of the left wheel and second value is the velocity of the right wheel in m/s.
If the frame is vpRobot::REFERENCE_FRAME, first value is the translation velocity in m/s. Second value is the rotational velocity in rad/s.

Exceptions

vpRobotException::dimensionError	: Velocity vector is not a 2 dimension vector.
vpRobotException::wrongStateError	: If the specified control frame is not supported.

See also: getVelocity(const vpRobot::vpControlFrameType, vpColVector &)

Definition at line 231 of file vpRobotPioneer.cpp.

References getVelocity().

◆ getVelocity() [2/2]

void vpRobotPioneer::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity )

Gets the current translational velocity of the robot.

Parameters

frame	: Control frame. For the moment, only vpRobot::ARTICULAR_FRAME to get left and right wheel velocities and vpRobot::REFERENCE_FRAME to get translational and rotational velocities are implemented.
velocity	: A two dimension vector that corresponds to the current velocities applied to the robot. If the frame is vpRobot::ARTICULAR_FRAME, first value is the velocity of the left wheel and second value is the velocity of the right wheel in m/s. If the frame is vpRobot::REFERENCE_FRAME, first value is the translation velocity in m/s. Second value is the rotational velocity in rad/s.

Exceptions

vpRobotException::dimensionError	: Velocity vector is not a 2 dimension vector.
vpRobotException::wrongStateError	: If the specified control frame is not supported.

See also: getVelocity(const vpRobot::vpControlFrameType)

Definition at line 188 of file vpRobotPioneer.cpp.

References vpRobot::ARTICULAR_FRAME, init(), vpMath::rad(), vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpRobotException::wrongStateError.

Referenced by getVelocity().

◆ init()

void vpRobotPioneer::init ( void )

virtual

Initialize the robot.

Sets the robot in asynchronous mode by starting a low level thread. The robot will be stopped if there is no connection to the robot at any given point.
Enables the motors on the robot, if it is connected.

Implements vpRobot.

Definition at line 153 of file vpRobotPioneer.cpp.

References isInitialized.

Referenced by getVelocity(), and setVelocity().

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = false )

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
 
#include <visp3/robot/vpRobot.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
 
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
 
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
 
  return 0;
}

Definition at line 162 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotAfma6::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ set_cMe()

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 102 of file vpUnicycle.h.

References cMe_.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ set_eJe()

void vpUnicycle::set_eJe ( const vpMatrix & eJe )

inlineinherited

Set the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Parameters

eJe	: The robot jacobian to set such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimension velocity skew.

Definition at line 112 of file vpUnicycle.h.

References eJe_.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

Examples: servoMomentPoints.cpp.

Definition at line 259 of file vpRobot.cpp.

References maxRotationVelocity.

Referenced by init(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples: servoMomentPoints.cpp.

Definition at line 238 of file vpRobot.cpp.

References maxTranslationVelocity.

Referenced by init(), and vpSimulatorAfma6::setPosition().

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotFranka, vpRobotPololuPtu, vpRobotPtu46, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

Definition at line 200 of file vpRobot.cpp.

◆ setVelocity()

void vpRobotPioneer::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel )

virtual

Set the velocity (frame has to be specified) that will be applied to the robot.

Parameters

frame : Control frame. For the moment, only vpRobot::ARTICULAR_FRAME to control left and right wheel velocities and vpRobot::REFERENCE_FRAME to control translational and rotational velocities are implemented.

vel

: A two dimension vector that corresponds to the velocities to apply to the robot.

If the frame is vpRobot::ARTICULAR_FRAME, first value is the velocity of the left wheel and second value is the velocity of the right wheel in m/s. In that case sets the velocity of the wheels independently.
If the frame is vpRobot::REFERENCE_FRAME, first value is the translation velocity in m/s. Second value is the rotational velocity in rad/s along the vertical axis.

Note that to secure the usage of the robot, velocities are saturated to the maximum allowed which can be obtained by getMaxTranslationVelocity() and getMaxRotationVelocity(). To change the default values, use setMaxTranslationVelocity() and setMaxRotationVelocity().

Exceptions

vpRobotException::dimensionError	: Velocity vector is not a 2 dimension vector.
vpRobotException::wrongStateError	: If the specified control frame is not supported.

Implements vpRobot.

Examples: servoPioneerPanSegment3D.cpp, and tutorial-ibvs-4pts-json.cpp.

Definition at line 98 of file vpRobotPioneer.cpp.

References vpRobot::ARTICULAR_FRAME, vpMath::deg(), vpException::dimensionError, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), init(), vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpArray2D< Type >::size(), and vpRobotException::wrongStateError.

◆ setVerbose()

void vpRobot::setVerbose ( bool verbose )

inlineinherited

Definition at line 167 of file vpRobot.h.

References verbose_.

Referenced by vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ useSonar()

void vpRobotPioneer::useSonar ( bool usage )

inline

Enable or disable sonar device usage.

Examples: servoPioneerPanSegment3D.cpp, and tutorial-pioneer-robot.cpp.

Definition at line 129 of file vpRobotPioneer.h.

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 111 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_

protectedinherited

Definition at line 116 of file vpUnicycle.h.

Referenced by get_cMe(), get_cVe(), vpPioneerPan::set_cMe(), set_cMe(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpUnicycle().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

Referenced by vpRobotAfma6::get_eJe(), vpRobotBiclops::get_eJe(), vpRobotCamera::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotKinova::get_eJe(), vpRobotPioneer::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), operator=(), vpRobot(), and vpRobot().

◆ eJe_

vpMatrix vpUnicycle::eJe_

protectedinherited

Definition at line 117 of file vpUnicycle.h.

Referenced by get_eJe(), vpPioneerPan::set_eJe(), set_eJe(), and vpUnicycle().

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by vpRobotAfma6::get_fJe(), vpRobotBiclops::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotKinova::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), operator=(), vpRobot(), and vpRobot().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ isInitialized

bool vpRobotPioneer::isInitialized

protected

Definition at line 132 of file vpRobotPioneer.h.

Referenced by init(), and vpRobotPioneer().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobot(), vpRobot(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxTranslationVelocity(), vpRobot(), and vpRobot().

◆ maxTranslationVelocityDefault

BEGIN_VISP_NAMESPACE const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

◆ nDof

int vpRobot::nDof

protectedinherited

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 115 of file vpRobot.h.

Referenced by vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), operator=(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), setVerbose(), vpRobotWireFrameSimulator::setVerbose(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobot(), vpRobot(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Inherited functionalities from vpUnicycle

Detailed Description

Member Enumeration Documentation

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpRobotPioneer()

◆ ~vpRobotPioneer()

Member Function Documentation

◆ get_cMe()

◆ get_cVe() [1/2]

◆ get_cVe() [2/2]

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getPosition()

◆ getRobotFrame()

◆ getRobotState()

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ init()

◆ saturateVelocities()

◆ set_cMe()

◆ set_eJe()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setRobotFrame()

◆ setRobotState()

◆ setVelocity()

◆ setVerbose()

◆ useSonar()

Member Data Documentation

◆ areJointLimitsAvailable

◆ cMe_

◆ eJe

◆ eJe_

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ isInitialized

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ qmax

◆ qmin

◆ verbose_